A detection and harvesting integrated device and method of an unmanned lotus root harvesting machine

Abstract

The application provides a detection and harvesting integrated device and method of unmanned lotus root harvester, and relates to the technical field of mechanical devices.The relative position relationship between the lotus root stem and the lotus root is detected, and the lotus root is detected and dug.The clamping claw is opened to put the lotus root stem into the clamping claw, and then the lotus root stem is clamped.The longitudinal detection system starts to work, the longitudinal wheel is clamped on the lotus root stem, and moves downward along the lotus root stem.At this time, the detection nozzle flushes the silt below, and the device as a whole moves downward along the lotus root stem.When the device moves to the lotus root along the lotus root stem, the longitudinal frame is opened under the obstruction of the lotus root, and stops digging downward when the angle reaches a certain angle.The transverse digging system starts to work, the auxiliary wheel drives the transverse frame to open due to contacting the lotus root, and the lotus root is clamped by the transverse wheel, the transverse wheel moves along the lotus root, and the harvesting nozzle starts to work to flush the soil around the lotus root.After flushing, the lotus root floats up with the device, and the work is completed.

Description

Technical Field

[0001] This invention relates to the field of mechanical devices, and in particular to an integrated detection and harvesting device for unmanned lotus root harvesting machines. Background Technology

[0002] Lotus root, a traditional vegetable, has long been loved by the general public. However, the manual harvesting conditions for lotus root are extremely harsh, especially for large-scale lotus root cultivation, which requires a large number of skilled and physically demanding harvesters. Existing lotus root harvesting machines suffer from low stability and poor detection capabilities, and cannot completely replace manual labor. Based on current research, this paper addresses the situation where existing harvesting machines cannot autonomously detect the location of lotus roots, necessitating manual assistance. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides an integrated detection and harvesting device for unmanned lotus root harvesters.

[0004] On one hand, an integrated detection and harvesting device for an unmanned lotus root harvester includes: a lateral harvesting system, a longitudinal detection system, and a clamping system. The clamping system includes clamping claws 9 and a connecting frame 10, wherein the clamping claws and the connecting frame are connected by bolts, and the lateral harvesting system and the longitudinal detection system are respectively connected to the connecting frame;

[0005] The horizontal harvesting system includes a horizontal wheel 1, a wheel frame 2, a horizontal frame 3, an auxiliary wheel 4, and a harvesting nozzle 5. The horizontal wheel 1 is mounted on the wheel frame 2 and rolls freely. The wheel frame 2 is fixed on the horizontal frame 3, and the horizontal frame 3 clamps the auxiliary wheel 4. The harvesting nozzle 5 is mounted on the horizontal frame 3 and sprays water in the direction of lotus root growth.

[0006] The longitudinal detection system includes longitudinal wheels 6, longitudinal frame 7, and detection nozzle 8;

[0007] The transverse frame 3 and the longitudinal frame 7 are respectively connected to the connecting frame by torsion springs, so that the transverse frame 3 and the longitudinal frame 7 are in a closed state when not in operation;

[0008] The clamping claw 9 is driven by gears and can open and close freely; there are four longitudinal wheels 6, which are installed between the longitudinal frames 7 and can roll freely; the detection nozzle 8 is installed on the longitudinal frame 7 and sprays water in the same direction as the movement.

[0009] On the other hand, an integrated detection and harvesting method for unmanned lotus root harvesters, based on the aforementioned integrated detection and harvesting device for unmanned lotus root harvesters, specifically includes the following steps:

[0010] Step 1: After the clamping claws open, insert the lotus root stalk into the clamping claws and clamp the lotus root stalk; position the lotus root.

[0011] Step 2: The longitudinal detection system starts working, carrying out longitudinal sludge flushing. The longitudinal wheel clamps onto the lotus stem and moves downward along the lotus stem. The unmanned lotus harvester's detection and harvesting integrated device moves downward to the designated position.

[0012] Step 3: When the unmanned lotus root harvester's detection and harvesting integrated device moves along the lotus stalk to the lotus root, the longitudinal detection system stops working due to the obstruction of the lotus root, and the transverse digging system starts working, clamping the lotus root and flushing away the transverse soil.

[0013] Step 4: After rinsing, the unmanned lotus root harvester's integrated detection and harvesting device floats up along with the lotus roots, at which point the work is complete.

[0014] The beneficial effects of adopting the above technical solution are as follows:

[0015] This invention provides an integrated detection and harvesting device and method for unmanned lotus root harvesters. The invention detects lotus roots by assessing the relative positions of the lotus stem and the root, effectively reducing the technical difficulty and equipment cost of lotus root detection. The design of the horizontal and vertical frames and wheels also improves the device's adaptability to irregular surfaces. Furthermore, compared to traditional harvesting devices, this invention is simpler to operate, more effective, and exhibits higher operational stability. It provides an effective and feasible detection and harvesting solution for lotus root harvesters and lays the foundation for unmanned lotus root harvesters. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the unmanned lotus root harvester detection and harvesting integrated device in an embodiment of the present invention;

[0017] In the diagram, 1-horizontal wheel, 2-wheel frame, 3-transverse frame, 4-auxiliary wheel, 5-harvesting nozzle, 6-longitudinal wheel, 7-longitudinal frame, 8-probe nozzle, 9-clamping claw, 10-connecting frame.

[0018] Figure 2 This is a schematic diagram of the lateral harvesting system in an embodiment of the present invention;

[0019] Figure 3 This is a schematic diagram of the longitudinal detection system in an embodiment of the present invention;

[0020] Figure 4 This is a schematic diagram of the clamping system in an embodiment of the present invention. Detailed Implementation

[0021] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0022] On the one hand, an integrated detection and harvesting device for unmanned lotus root harvesting machines, such as Figure 1As shown, it includes: a lateral harvesting system, a longitudinal detection system, and a clamping system. The clamping system is as follows... Figure 4 As shown, it includes a clamping claw 9 and a connecting frame 10, wherein the clamping claw and the connecting frame are connected by bolts, and the transverse harvesting system and the longitudinal detection system are respectively connected to the connecting frame;

[0023] The lateral harvesting system is as follows Figure 2 As shown, it includes a horizontal wheel 1, a wheel frame 2, a transverse frame 3, an auxiliary wheel 4, and a harvesting nozzle 5; the horizontal wheel 1 is mounted on the wheel frame 2 and rolls freely, the wheel frame 2 is fixed on the transverse frame 3, and the transverse frame 3 clamps the auxiliary wheel 4; the harvesting nozzle 5 is mounted on the transverse frame 3 and sprays water in the direction of lotus root growth;

[0024] The longitudinal detection system, such as Figure 3 As shown, it includes longitudinal wheels 6, longitudinal frame 7, and detection nozzle 8;

[0025] The transverse frame 3 and the longitudinal frame 7 are respectively connected to the connecting frame by torsion springs, so that the transverse frame 3 and the longitudinal frame 7 are in a closed state when not in operation;

[0026] The clamping claw 9 is driven by gears and can open and close freely; there are four longitudinal wheels 6, which are installed between the longitudinal frames 7 and can roll freely; the detection nozzle 8 is installed on the longitudinal frame 7 and sprays water in the same direction as the movement.

[0027] On the other hand, an integrated detection and harvesting method for unmanned lotus root harvesters, based on the aforementioned integrated detection and harvesting device for unmanned lotus root harvesters, specifically includes the following steps:

[0028] Step 1: After the clamping claws open, insert the lotus root stalk into the clamping claws and clamp the lotus root stalk; position the lotus root.

[0029] Step 2: The longitudinal detection system starts working, carrying out longitudinal sludge flushing. The longitudinal wheel clamps onto the lotus stem and moves downward along the lotus stem. The unmanned lotus harvester's detection and harvesting integrated device moves downward to the designated position.

[0030] Step 3: When the unmanned lotus root harvester's integrated detection and harvesting device moves along the lotus stem to the lotus root, the longitudinal detection system stops working due to the obstruction of the lotus root. The longitudinal frame opens under the obstruction of the lotus root, and the device stops digging when it reaches a certain angle. The transverse harvesting system starts working, clamping the lotus root and flushing away the transverse soil; the auxiliary wheel, due to contact with the lotus root, drives the transverse frame to open, and the transverse wheel clamps the lotus root, moving along the lotus root. The harvesting nozzle starts working, flushing away the soil around the lotus root.

[0031] Step 4: After rinsing, the unmanned lotus root harvester's integrated detection and harvesting device floats up along with the lotus roots, at which point the work is complete.

[0032] The above description is merely a preferred embodiment of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in the embodiments of this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in the embodiments of this disclosure.

Claims

1. A device integrating detection and harvesting for an unmanned lotus root harvester, characterized in that, include: A transverse harvesting system, a longitudinal detection system, and a clamping system; the clamping system includes clamping claws (9) and a connecting frame (10), wherein the clamping claws (9) and the connecting frame (10) are connected by bolts, and the transverse harvesting system and the longitudinal detection system are respectively connected to the connecting frame (10); The horizontal harvesting system includes a horizontal wheel (1), a wheel frame (2), a horizontal frame (3), an auxiliary wheel (4), and a harvesting nozzle (5); the horizontal wheel (1) is mounted on the wheel frame (2) and rolls freely, the wheel frame (2) is fixed on the horizontal frame (3), and the horizontal frame (3) clamps the auxiliary wheel (4); the harvesting nozzle (5) is mounted on the horizontal frame (3) and sprays water in the direction of lotus root growth; The longitudinal detection system includes longitudinal wheels (6), a longitudinal frame (7), and a detection nozzle (8); the transverse frame (3) and the longitudinal frame (7) are respectively connected to the connecting frame by torsion springs, so that the transverse frame (3) and the longitudinal frame (7) are in a closed state when not in operation; the clamping claw (9) is driven by gears and can open and close freely; there are four longitudinal wheels (6), which are installed between the longitudinal frames (7) and can roll freely; the detection nozzle (8) is installed on the longitudinal frame (7); The detection nozzle (8) sprays water in the same direction as the movement of the unmanned lotus root harvester detection and harvesting integrated device; the harvesting nozzle (5) sprays water in the direction of lotus root growth; The aforementioned unmanned lotus root harvester detection and harvesting integrated device is used to realize an unmanned lotus root harvester detection and harvesting integrated method, specifically including the following steps: Step 1: After the clamping claws open, insert the lotus root stalk into the clamping claws and clamp the lotus root stalk; position the lotus root. Step 2: The longitudinal detection system starts working, carrying out longitudinal sludge flushing. The longitudinal wheel clamps onto the lotus stem and moves downward along the lotus stem. The unmanned lotus harvester's detection and harvesting integrated device moves downward to the designated position. Step 3: When the unmanned lotus root harvester's detection and harvesting integrated device moves along the lotus stalk to the lotus root, the longitudinal detection system stops working due to the obstruction of the lotus root, and the transverse digging system starts working, clamping the lotus root and flushing away the transverse soil. Step 4: After rinsing, the unmanned lotus root harvester's integrated detection and harvesting device floats up along with the lotus roots, at which point the work is complete.

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